/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
 * All rights reserved.</center></h2>
 *
 * This software component is licensed by ST under BSD 3-Clause license,
 * the "License"; You may not use this file except in compliance with the
 * License. You may obtain a copy of the License at:
 *                        opensource.org/licenses/BSD-3-Clause
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdio.h>
#include "VL53L4CD_api.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
#define is_interrupt 1 /*is_interrupt = 1 => get data by interrupt, = 0 => get data by polling */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
I2C_HandleTypeDef hi2c1;

UART_HandleTypeDef huart2;

/* USER CODE BEGIN PV */
int status;
volatile int IntCount;
uint8_t p_data_ready;
uint16_t dev, sensor_id;
VL53L4CD_ResultsData_t results;		/* Results data from VL53L4CD */
VL53L4CD_Version_t sw_version;	/* Driver version */
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_I2C1_Init(void);
static void MX_USART2_UART_Init(void);
/* USER CODE BEGIN PFP */

void get_data_by_polling(uint16_t dev);
void get_data_by_interrupt(uint16_t dev);

#ifdef __GNUC__
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endif
PUTCHAR_PROTOTYPE
{
	HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, 0xFFFF);
	return ch;
}
/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
	if (GPIO_Pin==GPIO_PIN_4)
	{
		IntCount++;
	}
}
/* USER CODE END 0 */

/**
 * @brief  The application entry point.
 * @retval int
 */
int main(void)
{
	/* USER CODE BEGIN 1 */

	/* USER CODE END 1 */

	/* MCU Configuration--------------------------------------------------------*/

	/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
	HAL_Init();

	/* USER CODE BEGIN Init */

	/* USER CODE END Init */

	/* Configure the system clock */
	SystemClock_Config();

	/* USER CODE BEGIN SysInit */

	/* USER CODE END SysInit */

	/* Initialize all configured peripherals */
	MX_GPIO_Init();
	MX_I2C1_Init();
	MX_USART2_UART_Init();
	/* USER CODE BEGIN 2 */

	/* Assign the default address to the sensor */
	dev = 0x52;

	/* Toggle Xshut pin to reset the sensor */

	HAL_GPIO_WritePin(GPIOB, TOF_C_XSHUT_Pin, GPIO_PIN_RESET);
	HAL_Delay(5);
	HAL_GPIO_WritePin(GPIOB, TOF_C_XSHUT_Pin, GPIO_PIN_SET);
	HAL_Delay(5);

	/* Print the software version */

	/* Print the software version */
	status = VL53L4CD_GetSWVersion(&sw_version);
	printf("Starting VL53L4CD driver version %u.%u.%u\n",
			sw_version.major,
			sw_version.minor,
			sw_version.build);


	/* Check if VL53L4CD is connected. 0xebaa is the sensor id. */
	status = VL53L4CD_GetSensorId(dev, &sensor_id);
	if(status || (sensor_id != 0xebaa))
	{
		printf("VL53L4CD not detected\n");
		return status;
	}
	status = VL53L4CD_SensorInit(dev);


	/*******************************************************************
	 * User can chose a configuration below for a specific use case
	 ******************************************************************/

	// #define VL53L4CD_CONFIGURATION_LOW_POWER
#ifdef VL53L4CD_CONFIGURATION_LOW_POWER
	/* The examples below allows using the low power mode. The InterMeasurement
	 * value defines the measurements period, and needs to be greater than the
	 * TimingBudget.
	 */

	// Timing budget of 50ms, and ranging period 100ms (50% active ranging and
	// 50% low power)
	// status = VL53L4CD_SetRangeTiming(50, 100);

	// Timing budget of 100ms, and ranging period 1000ms (10% active ranging and
	// 90% low power)
	status = VL53L4CD_SetRangeTiming(dev, 100, 1000);
#endif

	// #define VL53L4CD_CONFIGURATION_HIGH_ACCURACY
#ifdef VL53L4CD_CONFIGURATION_HIGH_ACCURACY
	/* Program the highest possible TimingBudget, without enabling the
	 * low power mode. This should give the best accuracy */
	status = VL53L4CD_SetRangeTiming(dev, 200, 0);
#endif

	// #define VL53L4CD_CONFIGURATION_FAST_RANGING
#ifdef VL53L4CD_CONFIGURATION_FAST_RANGING
	/* Program the lowest possible TimingBudget, without enabling the
	 * low power mode. This gives the highest ranging frequency (100Hz) */
	status = VL53L4CD_SetRangeTiming(dev, 10, 0);
#endif

	printf("Ranging starts\n");
	status = VL53L4CD_StartRanging(dev);
	/* USER CODE END 2 */


	/* USER CODE END 2 */

	/* Infinite loop */
	/* USER CODE BEGIN WHILE */
	if (is_interrupt) {
		get_data_by_interrupt(dev);
	}
	else {
		get_data_by_polling(dev);
	}

	/* USER CODE END WHILE */

	/* USER CODE BEGIN 3 */
	/* USER CODE END 3 */
}

/**
 * @brief System Clock Configuration
 * @retval None
 */
void SystemClock_Config(void)
{
	RCC_OscInitTypeDef RCC_OscInitStruct = {0};
	RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

	/** Configure the main internal regulator output voltage
	 */
	__HAL_RCC_PWR_CLK_ENABLE();
	__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE2);
	/** Initializes the RCC Oscillators according to the specified parameters
	 * in the RCC_OscInitTypeDef structure.
	 */
	RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
	RCC_OscInitStruct.HSIState = RCC_HSI_ON;
	RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
	RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
	RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
	RCC_OscInitStruct.PLL.PLLM = 16;
	RCC_OscInitStruct.PLL.PLLN = 336;
	RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV4;
	RCC_OscInitStruct.PLL.PLLQ = 7;
	if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
	{
		Error_Handler();
	}
	/** Initializes the CPU, AHB and APB buses clocks
	 */
	RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
			|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
	RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
	RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
	RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
	RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

	if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
	{
		Error_Handler();
	}
}

/**
 * @brief I2C1 Initialization Function
 * @param None
 * @retval None
 */
static void MX_I2C1_Init(void)
{

	/* USER CODE BEGIN I2C1_Init 0 */

	/* USER CODE END I2C1_Init 0 */

	/* USER CODE BEGIN I2C1_Init 1 */

	/* USER CODE END I2C1_Init 1 */
	hi2c1.Instance = I2C1;
	hi2c1.Init.ClockSpeed = 100000;
	hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
	hi2c1.Init.OwnAddress1 = 0;
	hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
	hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
	hi2c1.Init.OwnAddress2 = 0;
	hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
	hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
	if (HAL_I2C_Init(&hi2c1) != HAL_OK)
	{
		Error_Handler();
	}
	/* USER CODE BEGIN I2C1_Init 2 */

	/* USER CODE END I2C1_Init 2 */

}

/**
 * @brief USART2 Initialization Function
 * @param None
 * @retval None
 */
static void MX_USART2_UART_Init(void)
{

	/* USER CODE BEGIN USART2_Init 0 */

	/* USER CODE END USART2_Init 0 */

	/* USER CODE BEGIN USART2_Init 1 */

	/* USER CODE END USART2_Init 1 */
	huart2.Instance = USART2;
	huart2.Init.BaudRate = 115200;
	huart2.Init.WordLength = UART_WORDLENGTH_8B;
	huart2.Init.StopBits = UART_STOPBITS_1;
	huart2.Init.Parity = UART_PARITY_NONE;
	huart2.Init.Mode = UART_MODE_TX_RX;
	huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
	huart2.Init.OverSampling = UART_OVERSAMPLING_16;
	if (HAL_UART_Init(&huart2) != HAL_OK)
	{
		Error_Handler();
	}
	/* USER CODE BEGIN USART2_Init 2 */

	/* USER CODE END USART2_Init 2 */

}

/**
 * @brief GPIO Initialization Function
 * @param None
 * @retval None
 */
static void MX_GPIO_Init(void)
{
	GPIO_InitTypeDef GPIO_InitStruct = {0};

	/* GPIO Ports Clock Enable */
	__HAL_RCC_GPIOC_CLK_ENABLE();
	__HAL_RCC_GPIOH_CLK_ENABLE();
	__HAL_RCC_GPIOA_CLK_ENABLE();
	__HAL_RCC_GPIOB_CLK_ENABLE();

	/*Configure GPIO pin Output Level */
	HAL_GPIO_WritePin(LD2_GPIO_Port, LD2_Pin, GPIO_PIN_RESET);

	/*Configure GPIO pin Output Level */
	HAL_GPIO_WritePin(GPIOB, TOF_L_XSHUT_Pin|TOF_C_XSHUT_Pin|TOF_R_XSHUT_Pin, GPIO_PIN_SET);

	/*Configure GPIO pins : B1_Pin TOF_L_INT_Pin */
	GPIO_InitStruct.Pin = B1_Pin|TOF_L_INT_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

	/*Configure GPIO pins : TOF_C_INT_Pin TOF_R_INT_Pin */
	GPIO_InitStruct.Pin = TOF_C_INT_Pin|TOF_R_INT_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

	/*Configure GPIO pin : LD2_Pin */
	GPIO_InitStruct.Pin = LD2_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
	HAL_GPIO_Init(LD2_GPIO_Port, &GPIO_InitStruct);

	/*Configure GPIO pins : TOF_L_XSHUT_Pin TOF_C_XSHUT_Pin TOF_R_XSHUT_Pin */
	GPIO_InitStruct.Pin = TOF_L_XSHUT_Pin|TOF_C_XSHUT_Pin|TOF_R_XSHUT_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
	GPIO_InitStruct.Pull = GPIO_PULLUP;
	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
	HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

	/* EXTI interrupt init*/
	HAL_NVIC_SetPriority(EXTI4_IRQn, 0, 0);
	HAL_NVIC_EnableIRQ(EXTI4_IRQn);

	HAL_NVIC_SetPriority(EXTI9_5_IRQn, 0, 0);
	HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);

	HAL_NVIC_SetPriority(EXTI15_10_IRQn, 0, 0);
	HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);

}

/* USER CODE BEGIN 4 */
void get_data_by_interrupt(uint16_t dev){
	do
	{
		__WFI();	// Wait for interrupt
		if(IntCount !=0 ){
			IntCount=0;
			/* Read measured distance. RangeStatus = 0 means valid data */
			VL53L4CD_GetResult(dev, &results);
			printf("Status = %3u, Distance = %5u mm, Signal = %6u kcps/spad\n",
					results.range_status,
					results.distance_mm,
					results.signal_per_spad_kcps);

			/* (Mandatory) Clear HW interrupt to restart measurements */
			VL53L4CD_ClearInterrupt(dev);

		}
	}while(1);
}


void get_data_by_polling(uint16_t dev){
	do
	{
		status = VL53L4CD_CheckForDataReady(dev, &p_data_ready);
		if(p_data_ready){

			/* Read measured distance. RangeStatus = 0 means valid data */
			VL53L4CD_GetResult(dev, &results);
			printf("Status = %3u, Distance = %5u mm, Signal = %6u kcps/spad\n",
					results.range_status,
					results.distance_mm,
					results.signal_per_spad_kcps);

			/* (Mandatory) Clear HW interrupt to restart measurements */
				VL53L4CD_ClearInterrupt(dev);

		}else{
			HAL_Delay(5);
		}
	}
	while(1);
}
/* USER CODE END 4 */

/**
 * @brief  This function is executed in case of error occurrence.
 * @retval None
 */
void Error_Handler(void)
{
	/* USER CODE BEGIN Error_Handler_Debug */
	/* User can add his own implementation to report the HAL error return state */
	__disable_irq();
	while (1)
	{
	}
	/* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
 * @brief  Reports the name of the source file and the source line number
 *         where the assert_param error has occurred.
 * @param  file: pointer to the source file name
 * @param  line: assert_param error line source number
 * @retval None
 */
void assert_failed(uint8_t *file, uint32_t line)
{
	/* USER CODE BEGIN 6 */
	/* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
	/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
